Brynn's Puma 560

Brynn picked up a Puma 560 (I think) robot arm at a 3M/Imation sale for $280 and we are trying to get it working. The thing powers up, says "UNIMATION" on the teach pendant, and then says "ERROR NO VAL" and we can't get it to do anything.

UPDATE: We built a serial cable, and found the baudrate settings by looking at PDP/11 page
And we got it completely working!!! We can drive it around using the teach pendant and everything.

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Brynn's Puma 560 robot arm.

Brynn and his new baby in the Van.	Unloaded, in my garage.	The front of the controller
The back of the controller	Teach pendant	The lower part of the arm.
The upper part of the arm.

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Inside the controller.

Full view of the inside of the controller

The card cage.

The three larger servo amplifiers on one board.

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The VAL computer.

Starting left-to-right.

The four-card VAL processor.	The LSI 11/2 (KD11) processor card.	The RAM card with battery backup.
The EPROM card.	The Quad serial I/O card.	A little modification to the Terminal port.

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Other cards: left-to-right.

First I/O card.

Back of first I/O card.

Second I/O card

Third I/O card.

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Final controller cards.

Digital servo card with 6503 processor.

Amplifier I/O card.

Arm encoder input card

The massive connector going to the arm itself.

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Teach pendant messages.

Right after power-on

About 3 seconds after power-on

Some "hidden" controls on the top of the controller.

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